Vehicle control system

ABSTRACT

A vehicle control system includes a steering input member rotatably supported by a vehicle body of a vehicle, a primary capacitive sensor provided along an outer edge of a steering input member and configured to detect a position on the steering input member at which a contact is made by a vehicle operator, a rotational angle sensor configured to detect a rotational angle of the steering input member, and a control unit configured to control a steering unit of the vehicle according to a signal from the rotational angle sensor and a signal from the primary capacitive sensor, wherein the control unit is configured to operate in a first operation mode and a second operation mode, the steering unit being controlled according to the signal from the rotational angle sensor in the first operation mode, and according to the signal from the primary capacitive sensor in the second operation mode.

TECHNICAL FIELD

The present invention relates to a vehicle control system configured toaccept a control input from a steering input member.

BACKGROUND ART

In a known a vehicle control system, a piezoelectric element is providedin an outer ring of a steering wheel to control theacceleration/deceleration and the steering of a vehicle according to apressure applied by a vehicle operator to the outer ring. SeeJP2018-194916A, for example.

According to this prior art, since the pressure that the vehicleoperator can apply to the outer ring varies depending on the vehicleoperator's physique, age, and the like so that the vehicle controlsystem may not be able to accurately interpret the pressure inputapplied to the outer ring by the vehicle operator.

SUMMARY OF THE INVENTION

In view of such a problem of the prior art, a primary object of thepresent invention is to provide a vehicle control system which accepts acontrol input as a touch operation or a pressing operation, and cancorrectly interpret the control input without regard to personaldifferences.

To achieve such an object, one embodiment of the present inventionprovides a vehicle control system (1), comprising: a steering inputmember (10) rotatably supported by a vehicle body (15) of a vehicle; aprimary capacitive sensor (37) provided along an outer edge of thesteering input member and configured to detect a position on thesteering input member at which a contact is made by a vehicle operator;a rotational angle sensor (38) configured to detect a rotational angleof the steering input member; and a control unit (11) configured tocontrol a steering unit (4) of the vehicle according to a signal fromthe rotational angle sensor and a signal from the primary capacitivesensor; wherein the control unit is configured to operate in a firstoperation mode and a second operation mode, the steering unit beingcontrolled according to the signal from the rotational angle sensor inthe first operation mode, and according to the signal from the primarycapacitive sensor in the second operation mode.

Since a touch operation is not likely to vary from one user to another,the control input consisting of a touch operation or a pressingoperation is prevented from varying from one user to another so that thecontrol unit can correctly interpret the control input without regard topersonal differences. Thus, the vehicle operator can control thesteering unit by turning the steering input unit in the first operationmode which is typically invoked in the manual driving mode, and bytouching the capacitive sensor in a prescribed manner in the secondoperation mode which is typically invoked in the autonomous drivingmode.

Preferably, in the second operation mode, the control unit is configuredto detect a movement of a contact point on the primary capacitive sensorin a first direction along the outer edge of the steering input member,and a movement of the contact point on the primary capacitive sensor ina second direction opposite from the first direction along the outeredge of the steering input member, and to control the steering unit independence on the direction of the movement of the contact point on theprimary capacitive sensor.

Thereby, the vehicle operator is able to control the steering unit ineither direction simply by rubbing the outer edge of the steering inputmember in the corresponding direction or either in clockwise directionor in counterclockwise direction. Again, the rubbing operation is notlikely to vary depending on personal differences.

The vehicle control system may further comprise an external environmentrecognition unit (46) configured to acquire environment information ofan environment surrounding the vehicle and to output the environmentinformation to the control unit, wherein the control unit is configuredto change a control mode of the steering unit in the second operationmode according to the acquired environment information.

The vehicle operator is able to cause the vehicle to behave as desiredby the vehicle operator depending on the surrounding environment simplyby rubbing the steering input member in the corresponding direction. Forinstance, the vehicle may be directed to a store or directed to adesired direction on the branch road depending on the existing situationor environment simply by rubbing the steering input member in thecorresponding direction.

Preferably, in the second operation mode, the control unit is configuredto detect the direction of the movement of the contact point on theprimary capacitive sensor according to the signal from the primarycapacitive sensor, and to start controlling the steering unit uponelapsing of a prescribed time period after the contact on the primarycapacitive sensor has ceased.

Since the vehicle is steered only after elapsing of a certain timeperiod after the vehicle operator's operation or command is completed,the vehicle operator is allowed to get prepared for the change in thebehavior of the vehicle so that the operating comfort of the vehicle canbe improved.

The vehicle control system may further comprise a secondary capacitivesensor (35, 36) provided on the steering input member at a positiondifferent from the primary capacitive sensor, wherein in the secondoperation mode, the control unit is configured to control the steeringunit according to the signal from the primary capacitive sensor, and tocontrol a drive unit and/or a brake unit for accelerating and/ordecelerating the vehicle according to the signal from the secondarycapacitive sensor, the control unit prohibiting control of the driveunit and/or the brake unit according to the signal from the secondarycapacitive sensor when the signal from the primary capacitive sensor ischanging.

Thereby, the vehicle operator can accelerate or decelerate the vehiclesimply by a touch operation of the secondary capacitive sensor providedon the steering input member. Since the control of the drive unit andthe brake unit according to the signal from the secondary capacitivesensor is prohibited when there is an operation input to the primarycapacitive sensor, the vehicle behavior is prevented from becomingunstable. Further, even when the vehicle operator accidentally operatesthe secondary capacitive sensor when operating the primary capacitivesensor, the vehicle is prevented from accelerating or decelerating.

Preferably, the primary capacitive sensor is arranged circumferentiallyalong an outer peripheral portion (33C) of the steering input member,and the secondary capacitive sensor is provided on a front portion (33A)or a back portion (33B) of the steering input member.

Thereby, when the vehicle operator is operating one of the primarycapacitive sensor and the secondary capacitive sensor, the vehicleoperator can be prevented from contacting the other of the primarycapacitive sensor and the secondary capacitive sensor.

The vehicle control system may further comprise a rotation restrictingdevice configured to selectively restrict a rotation of the steeringinput member relative to the vehicle body, wherein the control unit isconfigured to activate the rotation restricting device to restrict therotation of the steering input member relative to the vehicle body inthe second operation mode.

Thereby, the steering input member is prevented from rotating when atouch operation is being performed on the steering input member, and thedetection of the touch operation can be made in an accurate and reliablemanner.

Preferably, the control unit is configured to control the steering unitaccording to the signals from the primary capacitive sensor and therotational angle sensor in the second operation mode, and wherein asteering output of the steering unit for a given rotational angle inputfrom the steering input member measured by the rotational angle sensoris smaller in the second operation mode than in the first operationmode.

Thereby, even when the steering input member is turned by the rubbingoperation by the vehicle operator, since the control amount of thesteering unit with respect to the change amount of the rotational angleof the steering input member is limited, the turning characteristics ofthe vehicle is prevented from being adversely affected by the rubbingoperation.

Thus, the present invention provides a vehicle control system whichaccepts a control input as a touch operation or a pressing operation,and can correctly interpret the control input without regard to personaldifferences.

BRIEF DESCRIPTION OF THE DRAWING(S)

FIG. 1 is a block diagram of a vehicle control system according anembodiment of the present invention;

FIG. 2 is a side view of a steering input member of the vehicle controlsystem;

FIG. 3 is a front view of the steering input member;

FIG. 4 is a diagram illustrating the positioning of a first to a thirdcapacitive sensor;

FIG. 5 is a sectional view of an outer ring of the steering input membertaken long line V-V in FIG. 3;

FIG. 6 is a flowchart of a control method selection process executed bya travel control unit of the vehicle control system;

FIG. 7 is a flowchart of a stop operation process executed by the travelcontrol unit of the vehicle control system;

FIG. 8 is a flowchart of a second operation control executed by thetravel control unit of the vehicle control system; and

FIG. 9 is a flowchart of a steering control in the second operationcontrol executed by the travel control unit of the vehicle controlsystem.

DESCRIPTION OF THE PREFERRED EMBODIMENT(S)

A vehicle control system 1 according to a preferred embodiment of thepresent invention is described in the following with reference to theappended drawings. As shown in FIG. 1, the vehicle control system 1 isprovided in a vehicle 2 which is capable of autonomous driving. Thevehicle 2 can travel either in a manual driving mode in which a vehicleoperator mainly performs the driving operation or in an autonomousdriving mode in which the control system of the vehicle 2 mainlyperforms the driving operation. As shown in FIG. 1, the vehicle 2includes a steering unit 4 that steers the wheels of the vehicle 2, adrive unit 5 that drives the wheels, and a brake unit 6 that appliesbrake to the wheels.

The steering unit 4 is configured to change the steering angle of thefront wheels, and includes an electric motor and a steering mechanismthat steers the wheels by using the drive force of an electric motor.The steering mechanism includes, for example, a rack and pinionmechanism. The drive unit 5 is a device for rotating the wheels, andincludes at least one of an electric motor and an internal combustionengine, and a transmission mechanism that transmits the drive force ofthe electric motor and/or the internal combustion engine to the wheels.The drive unit 5 can apply a braking force to the wheels by enginebraking when the internal combustion engine is used or by regenerativebraking when the drive unit 5 includes an electric motor. The brake unit6 is a device that applies resistance to the rotation of the wheels todecelerate the vehicle or to bring the vehicle to a stop. In thisembodiment, the brake unit 6 consists of a friction brake unit thatincludes an electric motor, a hydraulic pump that can be driven by theelectric motor to generate hydraulic pressure, and a brake caliper thatpresses a brake pad against a brake disk by receiving the hydraulicpressure from the hydraulic pump.

The vehicle control system 1 includes a steering input member 10 fittedwith various sensors, and a travel control unit 11 that controls atleast one of the steering unit 4, the drive unit 5, and the brake unit 6according to a signal or signals from the sensors associated with thesteering input member 10. The steering input member 10 is configured toreceive a steering input from a vehicle operator in order to steer thevehicle 2. The steering input member 10 may include, for example, asteering wheel or a control stick, and may have an outer edge which iscircular or rectangular in shape. The outer edge may also have a morecomplex shape such as one of two pieces obtained by bisecting a circleby a secant line, a track shape, and so on.

As shown in FIG. 2, the steering input member 10 is rotatably supportedby a vehicle body 15 via a support device 16. The support device 16forms a part of the vehicle body 15. The support device 16 includes alaterally extending rail 21 provided on a dash panel 18 forming a frontwall of a cabin 17 of the vehicle 2, a slider 22 slidably supported bythe rail 21, an arm 23 extending rearward (or toward the vehicleoperator) from the slider 22, and a base 24 provided at a free end or arear end of the arm 23. The arm 23 has at least one pivot joint 25, andsupports the base 24 so as to be movable in the fore and aft directionand the vertical direction with respect to the slider 22. The arm 23 mayinclude one or more parallel link mechanisms. One of the rail 21 and theslider 22 may be provided with a slider moving unit 27 that moves theslider 22 with respect to the rail 21 by using an electric motor. Thearm 23 may be provided with an arm driving unit 28 that can flex the arm23 so as to move the base 24 in the vertical direction and in the foreand aft direction, and to change the tilt angle of the base 24 by usingan electric motor.

As shown in FIGS. 2 and 3, the steering input member 10 includes a hub31 having a cylindrical shape and rotatably provided on the base 24 ofthe arm 23 around a rotational center line A (which coincides with thecentral axial line of the cylindrical shape), and a disk 32 extendingradially outward from the outer periphery of the hub 31. An outer ring33 is provided on the outer edge or the outer periphery of the disk 32in a coaxial relationship to the hub 31. In the present embodiment, thedisk 32 is formed as a shallow cone such that the radially outer part ofthe disk 32 is further away from the base 24 than the radially innerpart thereof. The outer ring 33 is formed in an annular shape around therotational center line A of the steering input member 10 (or the hub31), and has a circular cross section. The cross sectional diameter ofthe outer ring 33 is larger than the thickness of the disk 32. The outerring 33 functions as a grip portion that is gripped by a vehicleoperator in order to rotate the steering input member 10 around therotational center line A.

As shown in FIG. 1, the steering input member 10 is provided with afirst capacitive sensor 35, a second capacitive sensor 36, a thirdcapacitive sensor 37, a rotational angle sensor 38, and a force sensor39. The rotational angle sensor 38 detects a rotational angle of thesteering input member 10 with respect to the vehicle body 15. Therotational angle sensor 38 may be a rotary encoder, a resolver, or thelike. In another embodiment, a gyro sensor is provided on the steeringinput member 10. The gyro sensor detects the rotation speed of thesteering input member 10.

The force sensor 39 may be a per se known piezoelectric sensor or straingauge sensor, and is provided between the base 24 and the hub 31. Theforce sensor 39 detects a pushing load and/or a pull load that isapplied to the steering input member 10 in a direction (z direction)directed in parallel with the rotational center line A by the vehicleoperator. The force sensor 39 may also be a six-axis force sensor whichcan detect the forces in the z direction, in an x direction which isorthogonal to the z direction and extends laterally, in a y directionwhich is orthogonal to the y-direction and the z-direction, and torquesaround the x, y and z directions, respectively.

As shown in FIGS. 2, 4, and 5, the first to third capacitive sensors 35to 37 are used as touch sensors that detect approach and contact of anobject such as a vehicle operator's finger according to a change incapacitance. The first to third capacitive sensors 35 to 37 are providedon the outer ring 33 of the steering input member 10.

The outer ring 33 has a front portion 33A (or a front surface portion)facing the vehicle operator and a back portion 33B (or a back surfaceportion) opposite to the front portion 33A. More specifically, when theouter ring 33 is cut into two parts about a plane containing the outerperipheral edge of the outer ring 33 (the portion where the diameter ofthe outer ring 33 is the largest around the rotational center line A ofthe steering input member 10) and the inner peripheral edge of the outerring 33 (the portion where the diameter of the outer ring 33 is thesmallest around the rotational center line A of the steering inputmember 10), the part near the base 24 (or facing away from the vehicleoperator) is defined as the back portion 33B and the part remote fromthe base 24 (or facing the vehicle operator) is defined as the frontportion 33A.

The first capacitive sensor 35 is provided on a first surface of thesteering input member 10 which may be one of the front surface and theback surface of the steering input member 10, and the second capacitivesensor 36 is provided on a second surface of the steering input member10 which may be the other of the front surface and the back surface ofthe steering input member 10. The front surface includes the frontportion 33A of the hub 31, the front portion 32A of the disk 32, and thefront portion 33A of the outer ring 33, and the back surface includesthe back portion 33B of the hub 31, the back portion 32B of the disk 32,and the back portion 33B of the outer ring 33.

The first capacitive sensor 35 is provided on one of the front portion33A and the back portion 33B of the outer ring 33, and the secondcapacitive sensor 36 is provided on the other of the front portion 33Aand the back portion 33B of the outer ring 33. In the illustratedembodiment, the first capacitive sensor 35 is provided on the frontportion 33A of the outer ring 33, and the second capacitive sensor 36 isprovided on the back portion 33B of the outer ring 33.

The first capacitive sensor 35 is provided with a single sensor elementformed in an annular shape along the front portion 33A of the outer ring33 in a coaxial manner. Alternatively, the first capacitive sensor 35consists of multiple sensor elements arranged in an annular patternalong the front portion 33A of the outer ring 33 in a coaxial manner.The first capacitive sensor 35 is preferably positioned on an innerperipheral part of the front portion 33A. More specifically, when viewedalong the direction of the rotational center line A of the steeringinput member 10, the first capacitive sensor 35 is preferably positionedon the radially inner side of a circle that passes through the widthwisecentral part of the outer ring 33, or on the inner peripheral part 33Dof the outer ring 33.

The second capacitive sensor 36 is provided with a single sensor elementformed in a ring shape coaxial with the outer ring 33 along the backportion 33B of the outer ring 33. Alternatively, the second capacitivesensor 36 consists of multiple sensor elements arranged in thecircumferential direction along the back portion 33B of the ring 33. Thesecond capacitive sensor 36 preferably extends along the widthwisecentral part of the back portion 33B of the outer ring 33. The secondcapacitive sensor 36 thus has a larger diameter than the firstcapacitive sensor 35.

The third capacitive sensor 37 is provided along the outer edge of thesteering input member 10, and is configured not only to detect a contact(a touch) but also to identify a contact position at which the contactis made (a position of a touch operation by a vehicle operator). Thethird capacitive sensor 37 may be a single sensor extending along theouter edge of the steering input member 10 or a plurality of individualsensor elements arranged along the outer edge of the steering inputmember 10. In the present embodiment, the third capacitive sensor 37consists of a plurality of individual and discrete capacitive sensorelements that are arranged in the circumferential direction along anouter peripheral portion 33C of the outer ring 33 (including the outerperipheral edge thereof). An outer peripheral portion 33C of the outerring 33 constitutes an outer peripheral portion or the outer edge of thesteering input member 10. Each of the individual capacitive sensorelements of the third capacitive sensor 37 has the same angular range inthe circumferential direction, and is arranged adjacent to each other atequal intervals. It is preferable that the gap between the adjacentcapacitive sensor elements is as small as possible. In the presentembodiment, the third capacitive sensor 37 includes 36 capacitive sensorelements, each having an angular range of about 10 degrees.

The first to third capacitive sensors 35 to 37 output signalscorresponding to the respective capacitances thereof. The capacitancesof the first to third capacitive sensors 35 to 37 increase as an objectsuch as a vehicle operator's hand comes closer, as the size of theapproaching object increases, and as the relative permittivity of theapproaching object increases.

As shown in FIG. 2, a display 40 is provided on the front portion 31A(facing the vehicle operator) of the hub 31. The display 40 is formed ina circular shape and occupies 50% or more of the area of the frontsurface of the hub 31. As shown in FIG. 1, the display 40 is controlledby an interface control unit 41, and displays images and/or graphicsindicating the driving mode (autonomous driving or manual driving) ofthe vehicle 2, the traveling direction (future trajectory) of thevehicle 2, the positions of other vehicles traveling around the ownvehicle 2, and the speed of the own vehicle 2 which are received fromthe travel control unit 11. The images or the graphics that aredisplayed may include numerical values and symbols.

A reaction force applying unit 43 is provided between the vehicle body15 and the hub 31 for applying a reaction force (rotational resistance)to the turning operation of the hub 31 with respect to the vehicle body15. The reaction force applying unit 43 is, for example, an electricmotor, and applies the output torque of the electric motor to the hub 31as a reaction force to the turning operation of the hub 31. The reactionforce applying unit 43 can restrict or prevent the rotation of the hub31 by applying a sufficient rotational resistance to the hub 31. Inother words, the reaction force applying unit 43 may function as arotation restricting unit that prevents or prohibits the rotation of thesteering input member 10 with respect to the vehicle body 15.

The travel control unit 11 is connected to a vehicle sensor 45 thatdetects various state variables (state quantities) of the vehicle 2, andan external environment recognition unit 46 that detects environmentalinformation around the own vehicle 2. The vehicle sensor 45 includes,for example, a vehicle speed sensor that detects the traveling speed ofthe vehicle 2, an acceleration sensor that detects the acceleration ofthe vehicle 2, a yaw rate sensor that detects the yaw rate of thevehicle 2, and the like. The travel control unit 11 acquires variousstate variables of the vehicle 2 from the vehicle sensor 45.

The external environment recognition unit 46 acquires the surroundingvehicle information and the surrounding environment information, andoutputs the acquired information to the travel control unit 11. Theexternal environment recognition unit 46 includes a camera 47 thatcaptures an image around the own vehicle 2, an object detection sensor48 such as a laser or a lidar that detects objects existing around theown vehicle 2, and a navigation unit 49. The external environmentrecognition unit 46 detects and identifies road lane markings andshoulder markings from the image captured by the camera 47, and detectsthe surrounding vehicles traveling around the own vehicle 2 according tothe image captured by the camera 47 and the detection signal of theobject detection sensor 48. In addition, the external environmentrecognition unit 46 acquires the surrounding environment informationincluding the position and speed of the own vehicle 2, and stores(shops, restaurants, and other goods and service providingestablishments) and branch roads (junctions and forks) located aroundthe own vehicle according to the own vehicle position, the mapinformation and the POI (point of interest) obtained from the navigationunit 49.

The travel control unit 11 can be selectively operated either in themanual driving mode or the autonomous driving mode. The travel controlunit 11 can be switched between the manual driving mode and theautomatic driving mode by manually operating a mode selection switch 51,for example. In the manual driving mode, the travel control unit 11controls the drive unit 5, the brake unit 6, and the steering unit 4according to the depression of the accelerator pedal 52 and the brakepedal 53 by the vehicle operator, and the turning operation of thesteering input member 10 with respect to the base 24 by the vehicleoperator. The accelerator pedal 52 and the brake pedal 53 are eachprovided with a position sensor that outputs a signal corresponding tothe depressed position of the accelerator pedal 52 and the brake pedal53 to the travel control unit 11. In the autonomous driving mode, thetravel control unit 11 generates a future trajectory of the vehicle 2,and controls the drive unit 5, the brake unit 6, and the steering unit 4without requiring the operation by the vehicle operator.

The travel control unit 11 is configured to execute a first operationmode in which the steering unit 4 is controlled according a signal fromthe rotational angle sensor 38 for detecting a rotational angle of thesteering input member 10, and a second operation mode in which thesteering unit 4 is controlled according to a signal from at least one ofthe first to third capacitive sensors 35 to 37. The travel control unit11 may select between the first operation mode and the second operationmode according to the driving mode of the vehicle 2. The travel controlunit 11 may execute the first operation mode when in the manual drivingmode, and may execute the second operation mode when in the autonomousdriving mode.

In the first operation mode, the travel control unit 11 controls thesteering unit 4 according to the turning operation of the steering inputmember 10 by the vehicle operator, and changes the steering angle of thewheels accordingly. In the second operation mode, the travel controlunit 11 controls at least one of the steering unit 4 and the drive unit5 according to the vehicle operator's touch operation on any of thefirst to third capacitive sensors 35 to 37.

The first capacitive sensor 35 and the second capacitive sensor 36output a signal corresponding to the capacitances thereof to the travelcontrol unit 11. The travel control unit 11 controls at least one of thedrive unit 5 and the brake unit 6 according to the signals output fromthe first capacitive sensor 35 and the second capacitive sensor 36. Forexample, in the second operation mode corresponding to the autonomousdriving mode, the travel control unit 11 controls the drive unit 5 andthe brake unit 6 according to the signals output from the firstcapacitive sensor 35 and the second capacitive sensor 36. In the presentembodiment, the travel control unit 11 executes an acceleration controlfor controlling the drive unit 5 to accelerate the vehicle 2 when apredetermined signal from the first capacitive sensor 35 is received,and executes a deceleration control for controlling at least one of thedrive unit 5 and the brake unit 6 so as to decelerate the vehicle 2 whena predetermined signal is received from the second capacitive sensor 36.The acceleration control may include increasing the vehicle speed fromthe current speed by a prescribed value, and decreasing the targetdistance to the preceding vehicle from the current distance by aprescribed value. The deceleration control may include decreasing thevehicle speed from the current speed by a prescribed value, andincreasing the target distance to the preceding vehicle from the currentdistance by a prescribed value.

When the vehicle operator performs a predetermined operation on thefirst capacitive sensor 35, the first capacitive sensor 35 outputs apredetermined signal to the travel control unit 11. The predeterminedoperation performed by the vehicle operator on the first capacitivesensor 35 may be, for example, an operation that generates apredetermined change in capacitance, such as a single tap operation, adouble tap operation, or a long press operation. In the presentembodiment, the travel control unit 11 executes an acceleration controlupon detecting a change in the capacitance of the first capacitivesensor 35 corresponding to a single tap operation on the firstcapacitive sensor 35 by the vehicle operator.

In addition, the travel control unit 11 performs an acceleration controlwhen the capacitance of the first capacitive sensor 35 becomes equal toor more than the first determination value in response to the vehicleoperator's predetermined operation on the first capacitive sensor 35.The travel control unit 11 may perform the acceleration control uponelapsing of a certain time period after the occurrence of an event wherethe capacitance of the first capacitive sensor 35 persisted or continuedto be equal to or greater than the first determination value for apredetermined time period, and thereafter, the capacitance of the firstcapacitive sensor 35 fell below the first determination value. Byfollowing this procedure, an excessive detection by the first capacitivesensor 35 can be avoided.

The travel control unit 11 may execute the acceleration controlaccording to the detection value of the third capacitive sensor 37 inaddition to the detection value of the first capacitive sensor 35. Forexample, the travel control unit 11 may execute the acceleration controlwhen a change in the capacitance of the first capacitive sensor 35corresponding to a single tap operation on the first capacitive sensor35 by the vehicle operator is detected, and a change in any part of thethird capacitive sensor 37 corresponding to a long press operation bythe vehicle operator is detected. The travel control unit 11 may alsoexecute the acceleration control when a change in the capacitance of thefirst capacitive sensor 35 corresponding to a single tap operation onthe first capacitive sensor 35 by the vehicle operator is detected, anda change in a prescribed part of the third capacitive sensor 37corresponding to a long press operation by the vehicle operator isdetected. According to this arrangement, the travel control unit 11accelerates the vehicle 2 when the vehicle operator has performed asingle tap operation with the thumb on the front portion 33A of theouter ring 33 while the palm of the hand is placed at a specificposition along the outer periphery of the outer ring 33. It is alsopossible to provide a plurality of sensor elements of the firstcapacitive sensor 35 along the periphery of the steering input member10, and cause the travel control unit 11 to execute the accelerationcontrol when a signal corresponding to a capacitance equal to or greaterthan a prescribed value is received from a prescribed part or aprescribed sensor element of the first capacitive sensor 35.

The travel control unit 11 may also execute the acceleration controlaccording to the detection value of the force sensor 39 in addition tothe detection value of the first capacitive sensor 35. For example, thetravel control unit 11 may execute the acceleration control upondetecting a change in the capacitance of the first capacitive sensor 35corresponding to a single tap operation on the first capacitive sensor35 by the vehicle operator, and a signal corresponding to the pushing ofthe steering input member 10 toward the base 24 in the direction (firstdirection) of the rotational center line A of the steering input member10. According to this procedure, excessive detection of the firstcapacitive sensor 35 can be avoided. Further, it may be difficult todetect the amount of acceleration desired by the vehicle operator onlyfrom the touch operation by the vehicle operator by using the firstcapacitive sensor 35, but by using the detection result of the forcesensor 39 in combination with the detection result of the firstcapacitive sensor 35, the vehicle operator's desire can be determined ina more accurate and reliable manner. As a result, the level ofacceleration desired by the vehicle operator can be transmitted to thetravel control unit 11 in a more accurate manner.

When the vehicle operator performs a predetermined operation on thesecond capacitive sensor 36, the second capacitive sensor 36 outputs apredetermined signal to the travel control unit 11. The predeterminedoperation performed by the vehicle operator on the second capacitivesensor 36 may be, for example, an operation that generates apredetermined change in capacitance, such as a single tap operation, adouble tap operation, or a long press operation. In the presentembodiment, the travel control unit 11 executes the deceleration controlupon detecting a change in the capacitance of the second capacitivesensor 36 corresponding to a single tap operation on the secondcapacitive sensor 36 by the vehicle operator.

The travel control unit 11 may execute a deceleration control when thecapacitance of the second capacitive sensor 36 becomes equal to or morethan a second determination value as a result of a predeterminedoperation by the vehicle operator on the second capacitive sensor 36.The travel control unit 11 may perform the deceleration control uponelapsing of a certain time period after the occurrence of an event wherethe capacitance of the second capacitive sensor 36 persisted orcontinued to be equal to or greater than the second determination valuefor a predetermined time period, and thereafter, the capacitance of thesecond capacitive sensor 36 fell below the second determination value.By following this procedure, an excessive detection by the secondcapacitive sensor 36 can be avoided.

The travel control unit 11 may execute the deceleration controlaccording to the detection value of the third capacitive sensor 37 inaddition to the detection value of the second capacitive sensor 36. Forexample, the travel control unit 11 may execute the deceleration controlaccording to a change in the capacitance of the second capacitive sensor36 corresponding to the single tap operation on any part of the secondcapacitive sensor 36 performed by the vehicle operator, and a change inthe capacitance of the third capacitive sensor 37 corresponding to along press operation on the third capacitive sensor by the vehicleoperator. Also, the travel control unit 11 may execute the decelerationcontrol according to a change in the capacitance of the secondcapacitive sensor 36 corresponding to the single tap operation on thesecond capacitive sensor 36 performed by the vehicle operator, and achange in the capacitance of a prescribed part of the third capacitivesensor 37 corresponding to a long press operation on this part of thethird capacitive sensor 37 by the vehicle operator. Thus, in this case,when the vehicle operator performs a single tap operation with the indexfinger or the middle finger on the back portion of the outer ring 33while the palm is placed at a specific position along the circumferenceof the outer ring 33, the travel control unit 11 decelerates the vehicle2.

The travel control unit 11 may execute the deceleration controlaccording to the detection value of the force sensor 39 in addition tothe detection value of the second capacitive sensor 36. For example, thetravel control unit 11 may execute the deceleration control when achange in the capacitance of the second capacitive sensor 36corresponding to a single tap operation on the second capacitive sensor36 by the vehicle operator is detected, and a load in the direction(second direction) along the rotational center line A of the steeringinput member 10 pulling the steering input member 10 away from the base24 is detected by the force sensor 39. Thereby, excessive detection ofthe second capacitive sensor 36 can be avoided. In this conjunction, thesecond capacitive sensor 36 may include a plurality of sensor elementsalong the circumferential direction of the steering input member 10, andthe travel control unit 11 may execute the deceleration control when asignal indicating a capacitance equal to or greater than a prescribedvalue is received from a prescribed part or a prescribed sensor elementof the second capacitive sensor 36.

In addition, the travel control unit 11 may be configured to change thecontrol action that is executed in response to the operation by thevehicle operator depending on the state variables of the vehicle 2 suchas the vehicle speed. The travel control unit 11 may execute differentcontrol actions for the same operation performed on the first to thirdcapacitive sensors 35 to 37 depending on when the vehicle 2 isstationary or in motion, for example. The travel control unit 11 mayacquire the vehicle speed from the vehicle sensor 45, and determine thatthe vehicle 2 is stationary when the vehicle speed is 0 or equal to orless than a predetermined value. The travel control unit 11 may executea travel start control via the drive unit 5 when, for example, thevehicle speed is equal to or lower than a predetermined value, and achange in capacitance corresponding to a single tap operation isdetected at a prescribed position on the third capacitive sensor 35. Thetravel control unit 11 may execute a stop control to bring the vehicle 2to a stop when, for example, the vehicle speed is greater than apredetermined value, and a change in capacitance corresponding to asingle tap operation is detected at a prescribed position on the thirdcapacitive sensor 35. Further, the travel control unit 11 may activate aparking brake included in the brake unit 6 after the vehicle 2 has cometo a stop.

In addition, the travel control unit 11 may detect a movement of anobject such as a hand of the vehicle operator sliding over the outerring 33 either in clockwise direction or counterclockwise direction, andexecute a steering control for controlling the steering unit 4 accordingto the direction of the movement of the object. When the object movescircumferentially along the outer peripheral portion 33C of the outerring 33, the capacitance of the part of the third capacitive sensor 35where the contact is made increases, and then the capacitance of thesame part of the third capacitive sensor 35 decreases as the contactpoint moves past this part. By detecting the changes in capacitance inthe different parts of the third capacitive sensor 35, the sliding orrubbing movement of the vehicle operator along the outer peripheralportion 33C of the outer ring 33 can be detected.

Thus, the travel control unit 11 is able to detect if the rubbingoperation progressed in clockwise direction or counterclockwisedirection according to the order in which the change in capacitance fromone sensor element to another takes place in the third capacitive sensor37. In other words, the travel control unit 11 is able to detect if thetouching operation progressed in a first direction or a second directionopposite to the first direction along the outer edge of the steeringinput member 10 (the outer peripheral portion 33C of the outer ring 33).Also, the travel control unit 11 is able to identify the part (region)of the outer ring 33 to which the rubbing operation by the vehicleoperator is applied. It is also possible to arrange such that thesteering control is executed when the rubbing operation by the vehicleoperator is performed on a specific part of the outer ring 33. If thethird capacitive sensor 37 is configured to allow the position at whichthe vehicle operator performed a touch operation to be identified, thetravel control unit 11 is able to determine, from the output signal ofthe third capacitive sensor 37, the position at which the touchingoperation is performed and the direction of the movement of the positionat which the touching operation is performed.

The travel control unit 11 changes the control mode of the steering unit4 which is invoked in response to the vehicle operator's rubbingoperation in the second operation mode depending on the environmentinformation around the vehicle 2 acquired by the external environmentrecognition unit 46. The travel control unit 11 may detect, for example,the presence or absence of a lane adjacent to the lane in which thevehicle 2 is currently traveling according to the surroundingenvironment information, and changes the lanes when the adjacent laneexists in the direction corresponding to the direction of the rubbingoperation. The travel control unit 11 may detect, for example, thepresence or absence of a branch road on the course of the vehicle 2according to the surrounding environment information. If the branch roadexists in a direction corresponding to the direction of the rubbingoperation, the steering unit 4 may be controlled to steer in thecorresponding direction. The travel control unit 11 may detect, forexample, the presence or absence of a store on the course of the ownvehicle 2 according to the surrounding environment information. If thestore exists in the direction corresponding to the direction of therubbing operation, the steering unit 4 may be controlled to steer thevehicle 2 toward the store. The travel control unit 11 may detect, forexample, the presence or absence of a surrounding vehicle existingaround the own vehicle 2 according to the surrounding vehicleinformation. If the surrounding vehicle exists in the directioncorresponding to the direction of the rubbing operation, the steeringunit 4 may be controlled so as to appropriately maintain the lateraldistance to the surrounding vehicle.

In the second operation mode, the travel control unit 11 may beconfigured to control the steering unit 4 when the direction of themovement of the object touching the outer ring 33 is detected accordingto the signal from the sensor elements of the third capacitive sensor37, and a prescribed time period has elapsed after the object ceased tobe touching the outer ring 33. In other words, the travel control unit11 starts controlling the steering unit 4 when the rubbing operation onthe outer ring 33 by the vehicle operator is detected, and in addition,a prescribed time period has elapsed after the hand of the vehicleoperator is removed from the outer ring. Thereby, the vehicle operatoris given time to get prepared for the change in the behavior of thevehicle so that the operating comfort of the vehicle can be improved.

The travel control unit 11 is prohibited from controlling the drive unit5 and the brake unit 6 according to the signals from the firstcapacitive sensor 35 and the second capacitive sensor 36 during the timethe signals received from the third capacitive sensor 37 are changing.When a signal from the first capacitive sensor 35 is received, and asignal from the second capacitive sensor 36 is received as well, thetravel control unit 11 does not execute the acceleration operation, andexecutes the deceleration operation. In other words, when the travelcontrol unit 11 has received signals to execute two or more of thesteering control, the deceleration control and the acceleration control,a certain arbitration takes place. Typically, only one of the steeringcontrol, the deceleration control and the acceleration control havingthe highest priority is executed. The priority is given to the steeringoperation, the deceleration control and the acceleration control, inthat order. Thereby, even if the vehicle operator accidentally touchesthe first capacitive sensor 35 or the second capacitive sensor 36 duringthe rubbing operation, the vehicle 2 is prevented from inadvertentlyaccelerating or decelerating.

The travel control unit 11 controls the reaction force applying unit 43in the second operation mode to restrict the rotation of the hub 31 ofthe steering input member 10 with respect to the vehicle body 15.Thereby, the steering input member 10 can be prevented from rotating asa result of the rubbing operation of the outer ring 33 by the vehicleoperator so that the travel control unit 11 can correctly detect thevehicle operator's rubbing operation according to the signals from thesensor elements of the third capacitive sensor 37.

According to another embodiment of the present invention, in the secondoperation mode, the travel control unit 11 controls the steering unit 4according to the signals from the sensor elements of the thirdcapacitive sensor 37, and also according to the signal from therotational angle sensor 38. In this case, preferably, the control amountof the steering angle of the wheels for a given change in the angularposition of the steering input member 10 in the second operation mode issmaller than the control amount of the steering angle of the wheels forthe same change in the angular position of the steering input member 10in the first operation mode. In this conjunction, the travel controlunit 11 may be configured such that the control amount of the steeringangle of the wheels for a given change in the angular position of thesteering input member 10 in the second operation mode is zero. Thereby,even when the steering input member 10 is turned by the rubbingoperation by the vehicle operator on the outer ring 33, since thecontrol amount of the steering angle of the wheels is restricted, thevehicle is prevented from being inadvertently steered.

The control procedure of the vehicle control system 1 according to thepreferred embodiment of the present invention is described in thefollowing with reference to the flowcharts of FIGS. 6 to 9. The travelcontrol unit 11 selects a control method for the vehicle 2 in a controlmethod selection process shown in the flowchart of FIG. 6. In thecontrol method selection process, first of all, the travel control unit11 determines if the vehicle 2 is stationary according to the vehiclespeed acquired from the vehicle sensor 45 (S1). The travel control unit11 may determine that the vehicle 2 is stationary when the vehicle speedis equal to or less than a predetermined determination value. Thedetermination value of the vehicle speed may be 0, for example.

If the vehicle 2 is stationary (or the determination result in S1 isYes), the travel control unit 11 executes a stop operation control shownthe flowchart of FIG. 7 (S2). When the vehicle 2 is not stationary (thedetermination result in S1 is No), the travel control unit 11 determinesif the current driving mode of the vehicle 2 is the autonomous drivingmode (S3). When the current driving mode is the autonomous driving mode(the determination result in S3 is Yes), the travel control unit 11executes a first operation control corresponding to a first operationmode (S5). Conversely, when the current driving mode is not theautonomous driving mode (No in S3), or, in other words, when the currentdriving mode is the manual driving mode, the travel control unit 11executes a second operation control corresponding to a second operationmode shown in the flowchart of FIG. 8 (S5). The travel control unit 11executes one of the stop operation control, the first operation control,and the second operation control selected by the control methodselection process.

In the first operation control, the travel control unit 11 controls thesteering unit 4 according to the signal from the rotational angle sensor38, and controls the drive unit 5 and the brake unit 6 according to apush/pull operation of the steering input member 10 and a touchoperation on the first to third capacitive sensors 35 to 37. The travelcontrol unit 11 detects a push movement (a movement away from thevehicle operator) of the steering input member 10, and a pull movement(a movement toward the vehicle operator) of the steering input member10, along the rotational center line A, according to the signal from theforce sensor 39, for example. The drive unit 5 and the brake unit 6 arecontrolled so as to decelerate the vehicle 2 when a pull movement of thesteering input member 10 is detected, and so as to accelerate thevehicle 2 when push movement of the steering input member 10 isdetected. Thus, the vehicle operator is able to steer the vehicle 2 byturning the steering input member 10, and can accelerate and deceleratethe vehicle 2 by pushing and pulling the steering input member 10,respectively. In the first operation control, the travel control unit 11controls the steering unit 4 according to the signal from the rotationalangle sensor 38, controls the drive unit 5 according to the signal fromthe accelerator pedal 52, and controls the drive unit 5 and the brakeunit 6 according to the signal from the brake pedal 53.

In the stop operation control shown in FIG. 7, the travel control unit11 first determines if a predetermined touch operation by the vehicleoperator corresponding to the travel start operation has been detectedaccording to the signals from the first to third capacitive sensors 35to 37 (S11). The vehicle operator's touch operation corresponding to thetravel start operation can be set in a number of different ways. Forexample, the travel start operation may be invoked by a single tap to apredetermined position in the circumferential direction of the outerperipheral portion 33C (third capacitive sensor 35) of the outer ring33. When the travel control unit 11 detects the travel start operationperformed by the vehicle operator (the determination result in S11 isYes), the travel control unit 11 executes the travel start control todrive the drive unit 5, and causes the vehicle 2 to start traveling(S12). If the travel control unit 11 does not detect the travel startoperation by the vehicle operator (the determination result in S11 isNo), the travel control unit 11 repeats the stop operation control.

When the travel control unit 11 is executing the stop operation control,the vehicle operator can start the vehicle 2 by performing apredetermined touch operation on the steering input member 10 when thevehicle 2 is stationary.

In the second operation control shown in FIG. 8, the travel control unit11 first determines if the vehicle operator's predetermined touchoperation corresponding to the steering operation has been detectedaccording to the signal from the third capacitive sensor 37 (S21). Thevehicle operator's touch operation corresponding to the steeringoperation consists of the rubbing operation on the outer peripheralportion 33C (the third capacitive sensor 37) of the outer ring 33. Therubbing operation detected by the travel control unit 11 may berightward (clockwise) or leftward (counterclockwise). Upon detecting thesteering operation by the vehicle operator (Yes in S21), the travelcontrol unit 11 executes the steering control (see FIG. 9) for operatingthe steering unit 4 (S12) in the corresponding direction.

In the steering control shown in the flowchart of FIG. 9, the travelcontrol unit 11 first determines if there is an adjacent lane in thedirection corresponding to the direction of the rubbing operationaccording to the signal from the third capacitive sensor 37 and thesignal from the external environment recognition unit 46 (S31). Thetravel control unit 11 may determine if there is an adjacent laneaccording to the image of the view ahead of the vehicle 2 acquired bythe camera 47 included in the external environment recognition unit 46,the own vehicle position detected by the navigation unit 49, and the mapinformation corresponding to the own vehicle position.

When it is determined that there is an adjacent lane in the directioncorresponding to the direction of the rubbing operation (thedetermination result in S31 is Yes), the travel control unit 11determines if there is a vehicle (adjacent vehicle) adjacent to the ownvehicle 2 in the adjacent lane (S32). The travel control unit 11 maydetermine the presence or absence of an adjacent vehicle according tothe environment information acquired by the camera 47 and the objectdetection sensor 48 included in the external environment recognitionunit 46. When it is determined that there is no adjacent vehicle in theadjacent lane (the determination result in S32 is Yes), the travelcontrol unit 11 controls the steering unit 4 to change the lane to theadjacent lane (S33). The travel control unit 11 may generate, forexample, a future travel trajectory of the vehicle 2 so that the vehicle2 may travel along the future travel trajectory when changing lanes tothe adjacent lane.

When it is determined that there is an adjacent vehicle in the adjacentlane (the determination result in S32 is Yes), the travel control unit11 controls the steering unit 4 so that the lateral distance to theadjacent vehicle is kept at an appropriate distance (S34).

When the travel control unit 11 determines that there is no adjacentlane in the direction corresponding to the direction of the rubbingoperation (the determination result in S31 is No), the travel controlunit 11 determines if there is a store on the side corresponding to thedirection of the rubbing operation (S35). The travel control unit 11 maydetermine the presence or absence of a store, for example, according tothe environment information such as a POI near the own vehicle positionacquired from the navigation unit 49 included in the externalenvironment recognition unit 46.

When it is determined that there is a store on the side corresponding tothe direction of the rubbing operation in the traveling direction of theown vehicle 2 (Yes in S35), the travel control unit 11 controls thesteering unit 4 to enter the detected store (S36). The travel controlunit 11 may generate, for example, a future travel trajectory of thevehicle 2 for the vehicle to enter the detected store, and control thesteering unit 4 so that the vehicle 2 travels along the future traveltrajectory. Alternatively or additionally to the process of step S36,the travel control unit 11 may notify the presence of the store bydisplaying it on the display 40 or by speech, or may inquire the user ifthe vehicle operator desires to enter the store.

When it is determined that there is no store on the side correspondingto the direction of the rubbing operation in the traveling direction ofthe own vehicle 2 (the determination result in S35 is No), the travelcontrol unit 11 determines if there is a branch road in the directioncorresponding to the direction of the rubbing operation according to thesignal from the third capacitive sensor 37 and the environmentinformation from the external environment recognition unit 46 (S37). Thetravel control unit 11 may determine if there is a branch road accordingto the vehicle position detected by the navigation unit 49 included inthe external environment recognition unit 46 and the map informationcorresponding to the vehicle position.

When the travel control unit 11 determines that there is a branch roadon the side corresponding to the direction of the rubbing operation (thedetermination result in S37 is Yes), the travel control unit 11 controlsthe steering unit 4 to change the course to the branch road (S38). Thetravel control unit 11 may generate, for example, a future traveltrajectory of the vehicle 2 when changing the course to the branch road,and control the steering unit 4 so that the vehicle 2 travels along thefuture travel trajectory. When it is determined that there is no branchroad in the direction corresponding to the direction of the rubbingoperation (the determination result in S37 is No), the travel controlunit 11 ends the steering control.

The steering control by the travel control unit 11 allows the vehicleoperator to steer the vehicle 2 simply by rubbing the outer peripheralportion 33C of the outer ring 33 of the steering input member 10. Thesteering operation of the vehicle 2 corresponding to the rubbingoperation varies depending on the external environment of the vehicle 2.

In the second operation control, when the vehicle operator's steeringoperation is not detected in the second operation control (No in S21),the travel control unit 11 determines if a predetermined touch operationby the vehicle operator corresponding to the deceleration operation hasbeen detected according to the signals from the first to thirdcapacitive sensors 35 to 37 (S23). The vehicle operator's touchoperation corresponding to the deceleration operation is an operationdifferent from the steering operation, and may be, for example, a singletap operation on the back portion 31B (the second capacitive sensor 36)of the outer ring 33. Upon detecting the deceleration operation by thevehicle operator (Yes in S23), the travel control unit 11 executes thedeceleration control for driving at least one of the drive unit 5 andthe brake unit 6 to decelerate the vehicle 2 (S24).

When the travel control unit 11 does not detect the decelerationoperation by the vehicle operator (No in S23), the travel control unit11 determines if the vehicle operator's predetermined touch operationcorresponding to the acceleration operation is detected according thesignals from the first to third capacitive sensors 35 to 37 (S25). Thetouch operation by the vehicle operator corresponding to theacceleration operation is an operation different from the steeringoperation and the deceleration operation, and may be, for example, asingle tap operation on the front portion 31A (the first capacitivesensor 35) of the outer ring 33. Upon detecting the accelerationoperation by the vehicle operator (Yes in S25), the travel control unit11 executes the drive control for driving the drive unit 5 to acceleratethe vehicle 2 (S26).

When the acceleration control operation by the vehicle operator is notdetected (No in S25), the travel control unit 11 determines if apredetermined touch operation by the vehicle operator corresponding tothe stop operation is detected according to the signals from the firstto third capacitive sensors 35 to 37 (S27). The vehicle operator's touchoperation corresponding to the stop operation can be selected in variousways. For example, the touch operation corresponding to the stopoperation may be a single tap operation on a predetermined position ofthe outer peripheral portion 33C (the third capacitive sensor 35) of theouter ring 33. The stop operation by the vehicle operator may be thesame as or may be different from the travel start operation. Upondetecting the stop operation by the vehicle operator (Yes in S27), thetravel control unit 11 executes the stop control for generating thebraking force by the drive unit 5 or the brake unit 6 to stop thevehicle 2 (S28). In the stop control, the travel control unit 11 mayoperate the parking brake of the brake unit 6 after the vehicle 2 hascome to a stop. If the travel control unit 11 does not detect the stopoperation by the vehicle operator (No in S27), the travel control unit11 repeats the second operation control.

When the vehicle 2 is in the autonomous driving mode by the secondoperation control by the travel control unit 11, the vehicle operatorcan control the steering, acceleration, and deceleration of the vehicle2 by touching the steering input member 10. Since the travel controlunit 11 executes the steering control, the deceleration control, and theacceleration control in this order of priority, any two of the steeringcontrol, the deceleration control, and the acceleration control cannotbe executed simultaneously even when the steering operation, thedeceleration operation, and the acceleration operation aresimultaneously detected. Therefore, even when the vehicle operator'stouch operation is not appropriate, the behavior of the vehicle 2 isprevented from becoming unstable.

According to the vehicle control system 1 of the illustrated embodiment,personal differences in the input operation are prevented from causingdifferences in the behavior of the vehicle. The vehicle operator canaccelerate or decelerate the vehicle 2 by touching the first capacitivesensor 35 or the second capacitive sensor 36. The touch operation isunlikely to vary depending on the vehicle operator's physique, age, andthe like, so that personal variations in the input operation can beminimized.

The present invention has been described in the terms of a specificembodiment, but is not limited by such an embodiment, and can bemodified in various ways without departing from the scope of the presentinvention. For example, it may be configured such that the slider movingunit 27 can be controlled so as to change the position of the sliderrelative to the rail 21, and/or to change the extending/contracting(telescopic) position of the arm 23 and the angular position (tiltangle) of the base 24 by the touching operation by the vehicle operatoron the first to third capacitive sensors 35 to 37 of the steering inputmember 10. In other words, it may be configured such that the positionof the steering input member 10 may be adjusted by the touch operationby the vehicle operator on the first to third capacitive sensors 35 to37.

For example, the travel control unit 11 may execute a steering inputmember adjustment control for adjusting the position of the steeringinput member 10 upon detecting a signal corresponding to a predeterminedadjustment operation according to a signal from the third capacitivesensor 37. The predetermined adjustment operation may be, for example, along press operation of the third capacitive sensor 37 provided at asuitable position by the vehicle operator. In the steering input memberadjustment control, the travel control unit 11 controls the slidermoving unit 27 and the arm driving unit 28 according to the signals fromthe first to third capacitive sensors 35 to 37 so as to control thelateral position, the vertical position, and the fore and aft positionof the steering input member 10, and the angular position of thesteering input member 10. For example, the vehicle operator is enabledto change the lateral position of the steering input member 10 asdescribed in the following. The travel control unit 11 may control theslider moving unit 27 to start moving the slider 22 leftward upondetecting a touch operation on a part of the third capacitive sensor 37positioned on the right hand side of the outer ring 33, and to bring theslider moving unit 27 to come to a stop upon detecting a touch operationon another part of the third capacitive sensor 37 positioned on the lefthand side of the outer ring 33. The travel control unit 11 can similarlyadjust the vertical position of the steering input member 10.

When the steering input member 10 is desired to be adjusted to aposition further away from the vehicle operator (contracting operation),the travel control unit 11 controls the arm driving unit 28 to contractthe arm 23 upon detecting a touch operation on the first capacitivesensor 35 disposed on the front portion 33A of the outer ring 33, and tostop the arm 23 from contracting upon detecting a touch operation on thesecond capacitive sensor 36 disposed on the back portion 33B of theouter ring 33. Thereby, the vehicle operator can change the fore and aftposition of the steering input member 10 by the touch operation of thesteering input member 10. The travel control unit 11 can also move thesteering input member 10 toward the vehicle operator (extendingoperation) in the same manner.

When the angular position of the base 24 or the tilt angle of thesteering input member 10 is desired to be adjusted to a more uprightposition, the travel control unit 11 controls the arm driving unit 28 soas to cause the base 24 to face more upward upon detecting a touchoperation on the first capacitive sensor 35 and a part of the thirdcapacitive sensor 37 positioned in an upper part of the outer ring 33,and stop the arm driving unit 28 upon detecting a drop in thecapacitance of the first capacitive sensor 35 (or an end in the touchoperation on the first capacitive sensor 35). Thereby, the vehicleoperator can change the tilt angle of the steering input member 10 bytouching the steering input member 10. The travel control unit 11 canalso change the tilt angle of the steering input member 10 downward byperforming a similar but reversed operation.

1. A vehicle control system, comprising: a steering input memberrotatably supported by a vehicle body of a vehicle; a primary capacitivesensor provided along an outer edge of the steering input member andconfigured to detect a position on the steering input member at which acontact is made by a vehicle operator; a rotational angle sensorconfigured to detect a rotational angle of the steering input member;and a control unit configured to control a steering unit of the vehicleaccording to a signal from the rotational angle sensor and a signal fromthe primary capacitive sensor; wherein the control unit is configured tooperate in a first operation mode and a second operation mode, thesteering unit being controlled according to the signal from therotational angle sensor in the first operation mode, and according tothe signal from the primary capacitive sensor in the second operationmode.
 2. The vehicle control system according to claim 1, wherein in thesecond operation mode, the control unit is configured to detect amovement of a contact point on the primary capacitive sensor in a firstdirection along the outer edge of the steering input member, and amovement of the contact point on the primary capacitive sensor in asecond direction opposite from the first direction along the outer edgeof the steering input member, and to control the steering unit independence on the direction of the movement of the contact point on theprimary capacitive sensor.
 3. The vehicle control system according toclaim 2, further comprising an external environment recognition unitconfigured to acquire environment information of an environmentsurrounding the vehicle and to output the environment information to thecontrol unit, wherein the control unit is configured to change a controlmode of the steering unit in the second operation mode according to theacquired environment information.
 4. The vehicle control systemaccording to claim 2, wherein in the second operation mode, the controlunit is configured to detect the direction of the movement of thecontact point on the primary capacitive sensor according to the signalfrom the primary capacitive sensor, and to start controlling thesteering unit upon elapsing of a prescribed time period after thecontact on the primary capacitive sensor has ceased.
 5. The vehiclecontrol system according to claim 2, further comprising a secondarycapacitive sensor provided on the steering input member at a positiondifferent from the primary capacitive sensor, wherein in the secondoperation mode, the control unit is configured to control the steeringunit according to the signal from the primary capacitive sensor, and tocontrol a drive unit and/or a brake unit for accelerating and/ordecelerating the vehicle according to the signal from the secondarycapacitive sensor, the control unit prohibiting control of the driveunit and/or the brake unit according to the signal from the secondarycapacitive sensor when the signal from the primary capacitive sensor ischanging.
 6. The vehicle control system according to claim 5, whereinthe primary capacitive sensor is arranged circumferentially along anouter peripheral portion of the steering input member, and the secondarycapacitive sensor is provided on a front portion or a back portion ofthe steering input member.
 7. The vehicle control system according toclaim 1, further comprising a rotation restricting device configured toselectively restrict a rotation of the steering input member relative tothe vehicle body, wherein the control unit is configured to activate therotation restricting device to restrict the rotation of the steeringinput member relative to the vehicle body in the second operation mode.8. The vehicle control system according to claim 1, wherein the controlunit is configured to control the steering unit according to the signalsfrom the primary capacitive sensor and the rotational angle sensor inthe second operation mode, and wherein a steering output of the steeringunit for a given rotational angle input from the steering input membermeasured by the rotational angle sensor is smaller in the secondoperation mode than in the first operation mode.
 9. The vehicle controlsystem according to claim 1, wherein the first operation mode isselected when the vehicle is in a manual driving mode, and the secondoperation mode is selected when the vehicle is in an autonomous drivingmode.